CANopen Manager Source Code CiA 302

Tasked is to control and monitor the NMT state of all NMT slaves. A CANopen network usually consists of several devices with different functionality. One main function is the NMT master which shall exist in every CANopen network. It's commonly, the CANopen device which controls the system from an application point of view implements the NMT master also, e.g. a PLC. The CANopen Manager according to CiA 302 combines the NMT master with additional functionalities and implements processes in a standardized way, e.g. the boot-up of the network. This boot-up consists of the scan for expected CANopen devices and their configuration by the Configuration Manager. Furthermore, the CANopen Manager may implement the SDO manager which is responsible for dynamic establishment of SDO connections. This means, that SDO connections do not have to be configured when installing the system, but CANopen devices are able to request SDO connections to other devices at run time. These CANopen devices which are